Fixes flaky RobotState test

moveit · Nov 15, 2024 · 748efc7 · 748efc7
1 parent ce78cc4
commit 748efc7
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -781,6 +781,8 @@ TEST_F(OneRobot, rigidlyConnectedParent)
   EXPECT_EQ(robot_model_->getRigidlyConnectedParentLinkModel(link_b), link_a);
 
   moveit::core::RobotState state(robot_model_);
+  state.setToDefaultValues();
+  state.updateLinkTransforms();
 
   EXPECT_EQ(state.getRigidlyConnectedParentLinkModel("link_b"), link_a);
 
@@ -790,6 +792,9 @@ TEST_F(OneRobot, rigidlyConnectedParent)
       EigenSTL::vector_Isometry3d{}, std::set<std::string>{}, trajectory_msgs::msg::JointTrajectory{},
       moveit::core::FixedTransformsMap{ { "subframe", Eigen::Isometry3d::Identity() } }));
 
+  // This may be redundant
+  state.updateLinkTransforms();
+
   // RobotState's version should resolve these too
   EXPECT_EQ(link_a, state.getRigidlyConnectedParentLinkModel("object"));
   EXPECT_EQ(link_a, state.getRigidlyConnectedParentLinkModel("object/subframe"));